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YDLIDAR ROS2 PACKAGE V1.4.5

ROS2 node and test application for YDLIDAR

Visit EAI Website for more details about YDLIDAR.

How to install ROS2

ubuntu

windows

How to Create a ROS2 workspace

Create a workspace

How to build YDLIDAR ros2 package

1) Clone this project to your ament's workspace src folder 
2) Running ament to build ydlidar_node and ydlidar_client
3) Create the name "/dev/ydlidar" for YDLIDAR
--$ cd workspace/ydlidar_ros2/startup
--$ sudo chmod 777 ./*
--$ sudo sh initenv.sh

Note: Download and Build details here

How to run YDLIDAR ros2 package

1. Run YDLIDAR node and view using test application

$ros2 run ydlidar ydlidar_node

$ros2 run ydlidar ydlidar_client

Note: You should see YDLIDAR's scan result in the console

2.Run YDLIDAR node and view using test application by launch

$launch $(ros2 pkg prefix ydlidar)/share/ydlidar/launch/ydlidar.py

$ros2 run ydldiar ydlidar_client or ros2 topic echo /scan

or

$ros2 launch ydlidar ydlidar_launch.py

Dataset

Note: PWM option speed control requires external PWM wave.

Configuration

path: ydlidar.yaml

ros2-interfaces

Parameters

port (string, default: /dev/ydlidar)

serial port name used in your system. 

baudrate (int, default: 230400)

serial port baud rate. 

frame_id (string, default: laser_frame)

frame ID for the device. 

singleChannel (bool, default: false)

indicated whether the LIDAR is single communication(S2) lidar.

resolution_fixed (bool, default: true)

indicated whether the LIDAR has a fixed angular resolution. 

auto_reconnect (bool, default: true)

indicated whether the LIDAR auto reconnection. 

reversion (bool, default: false)

indicated whether the LIDAR data rotation 180°. 

isToFLidar (bool, default: false)

indicated whether the LIDAR is TOF(TX8) lidar. 

angle_min (double, default: -180)

Min valid angle (°) for LIDAR data. 

angle_max (double, default: 180)

Max valid angle (°) for LIDAR data. 

range_min (double, default: 0.08)

Min valid range (m) for LIDAR data. 

range_max (double, default: 32.0)

Max valid range (m) for LIDAR data. 

ignore_array (string, default: "")

Set the current angle range value to zero.

Note: ignore 10 to 20 and 50 to 80, ex: "10, 20, 50, 80" 

samp_rate (int, default: 9)

the LIDAR sampling frequency.

frequency (double, default: 10)

the LIDAR scanning frequency.

Note: Specific LiDAR paramter configuration, refer to Dataset

Upgrade Log

2020-02-08 version:1.4.5

1.Update SDK to 1.4.5

2.fixed ROS2 Dashing and Eloquent.

2019-12-23 version:1.4.4

1.support all standards lidar

2018-07-16 version:1.3.6

1.Update SDK verison to 1.3.9

2.remove imu sync.

2018-07-16 version:1.3.5

1.Update SDK verison to 1.3.6

2.add imu sync.

2018-04-16 version:1.3.1

1.Update SDK verison to 1.3.1

2.Increase sampling frequency,scan frequency setting.

3.Unified coordinate system.

4.Repair X4,S4 LIDAR cannot be opened.

5.Increased G4 G4C F4Pro LIDAR power-off protection.

6.Increased S4B LIDAR low optical power setting.

7.Fix the wait time for closing ros node.

8.Compensate for each laser point timestamp.

9.Unified profile, automatic correction lidar model.

6 Support

You can get support from YDLidar with the following methods:

• Send email to support@ydlidar.com with a clear description of your problem and your setup
• Github Issues

Contact EAI

If you have any extra questions, please feel free to contact us